EP2746820A1 - Capteur optique - Google Patents

Capteur optique Download PDF

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Publication number
EP2746820A1
EP2746820A1 EP12198338.1A EP12198338A EP2746820A1 EP 2746820 A1 EP2746820 A1 EP 2746820A1 EP 12198338 A EP12198338 A EP 12198338A EP 2746820 A1 EP2746820 A1 EP 2746820A1
Authority
EP
European Patent Office
Prior art keywords
camera
light
reflector
optical sensor
field
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP12198338.1A
Other languages
German (de)
English (en)
Other versions
EP2746820B1 (fr
Inventor
Lutz Lohmann Dr.
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Leuze Electronic GmbH and Co KG
Original Assignee
Leuze Electronic GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Leuze Electronic GmbH and Co KG filed Critical Leuze Electronic GmbH and Co KG
Priority to EP12198338.1A priority Critical patent/EP2746820B1/fr
Publication of EP2746820A1 publication Critical patent/EP2746820A1/fr
Application granted granted Critical
Publication of EP2746820B1 publication Critical patent/EP2746820B1/fr
Active legal-status Critical Current
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/10—Detecting, e.g. by using light barriers
    • G01V8/12—Detecting, e.g. by using light barriers using one transmitter and one receiver
    • G01V8/14—Detecting, e.g. by using light barriers using one transmitter and one receiver using reflectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/10—Detecting, e.g. by using light barriers
    • G01V8/20—Detecting, e.g. by using light barriers using multiple transmitters or receivers
    • G01V8/22—Detecting, e.g. by using light barriers using multiple transmitters or receivers using reflectors

Definitions

  • the invention relates to an optical sensor for detecting objects within a protective field.
  • Such optical sensors can typically be designed as light curtains, which operate on the reflection light barrier principle.
  • These light curtains have, as active sensor elements, transmitter / receiver pairs which are arranged on a first edge of the protective field and which are integrated with an evaluation unit in a common housing.
  • Each transmitter / receiver pair includes a transmitter as a point light source which emits light beams.
  • the transmitter is formed by a light-emitting diode or the like.
  • the light beam receiving receiver of the transmitter / receiver pair consists of a photodiode.
  • An edge of the protective field opposite the first edge contains a retroreflector.
  • the light beams emitted by the transmitters are guided to the retroreflector with beam axes which preferably run parallel to one another, where they are reflected back into themselves and then guided to the receiver of the respective patent in dispute.
  • the received signals of the receivers generated thereby are evaluated in the evaluation unit for generating an object detection signal.
  • An object penetrating into the protective field is detected by the object shading the retroreflector, so that at least the light beams of a transmitter no longer reach the retroreflector but are reflected back from the object to the receiver of the transmitter / receiver pair.
  • the thereby resulting from a free beam path resulting amplitude change of the receiver signal of the receiver is detected in the evaluation unit.
  • the evaluation unit has a multi-channel structure, for example in the form of two cyclically mutually monitoring computer units.
  • a requirement defined in the safety standard IEC 61496-2 is the safe differentiation of the retroreflector of objects. To meet this requirement, the distance of the retroreflector to the individual transmitter / receiver pairs must be monitored. This distance control requires a considerable amount of hardware and thus leads to undesirably high production costs of the light curtain.
  • the invention has for its object to provide an optical sensor of the type mentioned, by means of which, with little design effort, a secure and comprehensive object detection is made possible within a protective field.
  • the invention relates to an optical sensor for detecting objects within a protective field with a lighting unit generating a light line, and at least one associated with the lighting unit, a receiver forming camera at a first edge of the protective field, and arranged at a second edge of the protective field reflector.
  • An evaluation unit generates an object detection signal as a function of received signals from the receiver.
  • the reflector has a reflector pattern of specularly reflecting segments and light-absorbing segments.
  • the protective field is clear, the light line of the illumination unit strikes the reflector pattern of the reflector. Of the specularly reflective segments, the light of the light line is guided to at least one camera.
  • the receiver is designed so that its reflector pattern is completely imaged onto the at least one camera of the receiver at different distances from the reflector.
  • the at least one camera has a viewing area covering part of the protective field.
  • a reflective object within the field of view is detected in that at this reflected light of the illumination unit is guided directly on the at least one camera.
  • a non-reflective object is detected within the field of view in that it interrupts the light line of the illumination unit, so that light is no longer guided by all the reflective reflecting segments of the reflector to the at least one camera.
  • a reflective or non-reflective object which is arranged outside the field of view within the protective field, is detected in that it interrupts the light line of the illumination unit so that light is no longer guided by all the specularly reflective segments of the reflector to the at least one camera.
  • the flat illumination of the protective field with the light line generated by the lighting unit and the image of the reflecting segments of the reflector through this light line on the receiver formed by at least one camera secure object detection is achieved within the entire protective field.
  • object detection is made possible not only within but also outside the field of view of the at least one camera.
  • a single camera which is preferably positioned in the region of the center of the lighting unit, already suffices for object detection.
  • two cameras can also be provided from the longitudinal ends of the illumination unit, that is to say cameras positioned in the corners of the protective field for object detection.
  • the principle of object recognition is generally based on the fact that it is checked in the evaluation unit, whether the reflector pattern is completely recognized or not. In this case, there is a free protective field if the reflector pattern of the reflector is completely recognized in the evaluation unit and an object engagement in the protective field, if the reflector pattern is not detected in the evaluation unit.
  • the reflector pattern of the reflector imaged on the receiver is advantageously taught in a teach-in process a reference image or reference features derived from the reference image, which is formed by the reflective segments of the reflector depicted on the reflector.
  • a reference image or reference features derived from the reference image which is formed by the reflective segments of the reflector depicted on the reflector.
  • Reflecting objects are detected by evaluating the light of the illumination unit which is reflected by these objects and which is guided onto the at least one camera.
  • the object detection of non-reflecting objects takes place in that they interrupt the light of the illumination unit, which is registered in the at least one camera in that light is no longer guided by all specularly reflective segments of the reflector to the at least one camera.
  • An essential advantage of the optical sensor according to the invention is that it can be used for different distances of the reflector to the sensor components formed by the lighting unit and the camera or cameras. This is based on the fact that the receiver of the optical sensor formed from at least one camera and one camera lens is designed such that the reflector pattern for different distances of the reflector is completely imaged onto the or each camera. As a result, by a distance variation of the reflector in a simple manner different sized protective fields can be specified, so that a flexible application-specific adaptation of the optical sensor is possible.
  • the or each camera is preceded by a camera lens in the form of a wide-angle lens.
  • the or each camera has a matrix-like arrangement of receiving elements in such a way that the resolution of the camera in its outer areas is less than in its central area.
  • the increased resolution of the camera in its central area is obtained by the fact that there are more receiving elements per unit area compared to the outer areas of the camera. This takes into account the fact that a reflector in the vicinity with a relative large image size is imaged on the outside of the camera, while a reflector in the far range is imaged with a small image size in the center of the camera. In order to be able to detect the reflector pattern of the reflector still completely in this case as well, the camera has in its central area an increased number of receiving elements per unit area.
  • the or each camera has a uniform matrix-like arrangement of receiving elements.
  • the or each camera is associated with a camera lens, which has several zones with different focal lengths.
  • the zones of the camera lens are designed in such a way that the reflector pattern can be completely imaged on and captured by the camera even at different reflector distances.
  • the or each camera lens is formed by an optical system with several zones of different focal lengths for generating different opening angles.
  • the or each camera lens is formed by a microlens array, which also has altogether different opening angles.
  • images of the reflector or of objects at different distances from the or each camera are imaged on different regions of the matrix-like arrangement of receiving elements of the camera.
  • image distortions caused by imaging errors in a learning process are recorded by images imaged on the or each camera or by features derived therefrom and computationally compensated in the evaluation unit.
  • EoF extended depth of field
  • This measure also leads to increased accuracy in object detection.
  • alignment means are provided, by means of which the illumination unit and the at least one camera are adjusted relative to the reflector.
  • alignment means at least one alignment laser and a marking are provided which are associated with the lighting unit and the camera. The laser light emitted by the alignment laser is reflected by the reflector and is guided to the marking, where this laser light is visible.
  • each end of the lighting unit is an alignment laser and a marking arranged next to it.
  • the laser light emitted by both alignment lasers is reflected back by the reflector when it is correctly adjusted and then strikes the marking next to the respective alignment laser.
  • the correct adjustment can be visually checked by an operator through the preferably central image of the laser light on the respective marking.
  • the marking advantageously consists of a light-amplifying material, in particular a reflective surface, so that the laser light is clearly visible there.
  • the alignment lasers emit non-visible laser light, for example infrared light
  • markings are provided which shift the laser light into the visible wavelength range, so that even in this case the laser light is clearly visible on the markings.
  • the markings of fluorescent material.
  • a significant advantage of the invention continues to be that even for the use of the optical sensor in safety applications, the reflector position no longer needs to be determined or monitored. Rather, the reflector monitoring takes place solely by monitoring whether the reflector pattern in the at least one camera is recognized correctly, the reflector pattern being evaluated spatially resolved in the evaluation unit.
  • the illumination unit of the optical sensor generates a continuous, interrupted light line.
  • a more complex light line can be generated with the illumination unit such that many adjacent patterns form the light line.
  • the transmitters of the illumination unit can generally emit visible light or invisible light, in particular infrared light.
  • the lighting unit and the camera or the cameras can form separate units. Alternatively, these can also be combined to form a device unit.
  • this is a security sensor whose evaluation unit and / or its receiver has a multi-channel structure.
  • the thus formed safety sensor can then be used in the field of safety technology, in particular for the personal protection of hazardous machinery and equipment.
  • a multichannel setup of the receiver can meet the safety requirements for the monitoring performed.
  • a multi-channel receiver includes at least two cameras that monitor the same field of view. This can be realized for example by optical deflection, which are upstream of the cameras. The images or features of the same field of view taken with the cameras are then consecutively compared for detecting errors of the security sensor.
  • Particularly advantageous means are provided for testing the at least one camera.
  • the error safety of the optical sensor is further increased, which is advantageous in particular in the design of the optical sensor as a safety sensor.
  • test the at least one camera with this recorded images are evaluated in switched off transmitters or when projecting a light pattern in the field of view of the camera or when generating a light line impressed, time-varying test pattern in the evaluation.
  • the images or features determined during the testing are compared with certain setpoints that define expected values for the error-free case, so as to test the function of the respective camera.
  • the optical sensor has means for suppressing stray light irradiations.
  • disturbing light influences can be suppressed by first taking a camera image when the lighting unit is switched off, wherein a camera image is then taken with the lighting unit switched on and then the difference between the two camera images is formed.
  • interference light suppression is that the light of the illumination unit is modulated or clocked and the receiver is synchronized to it.
  • FIG. 1 shows a first embodiment of the optical sensor according to the invention 1.
  • the optical sensor 1 comprises as an active sensor component, a lighting unit 2, which generates a light line 3 and as a receiver, a camera 4 with an upstream camera lens 4a.
  • These sensor components are associated with an evaluation unit, not shown.
  • These units advantageously form a device unit, which is integrated, for example, in a housing, not shown.
  • the active sensor components are located at a first edge of a protective field within which objects can be detected with the optical sensor 1. At the opposite edge of the protective field is a reflector. 5
  • the optical sensor 1 forms a safety sensor in the present case.
  • the evaluation unit has a multi-channel, redundant structure.
  • the evaluation unit consists of two mutually cyclically monitoring computer units.
  • the camera 4 consists of a matrix-like arrangement of photosensitive receiving elements.
  • the cameras can be designed as a mono- or multi-spectral camera. In any case, the camera 4 has a matrix-like arrangement of photosensitive receiving elements. In the present case, the camera 4 consists of a CCD or CMOS camera 4.
  • the received signals at the outputs of the received signals are evaluated in the evaluation unit for generating an object detection signal.
  • the object detection signal is formed by a binary switching signal whose switching states indicate whether an object is in the protective field or not. With the switching signal to be monitored with the optical sensor 1 hazardous equipment is controlled. If an object is detected with the optical sensor 1 in the protective field, the system is switched off by the corresponding switching signal.
  • FIG. 2 and 3 show two embodiments of the illumination unit 2 for the optical sensor 1 according to FIG. 1 ,
  • the illumination unit 2 comprises a sensor housing 6, in which a plurality of transmitters 7 each having a downstream transmitting optics 8 are provided.
  • the transmitters 7 are formed by laser diodes or light-emitting diodes and emit light beams 9 in the visible or infrared range.
  • the transmission optics 8 are formed by cylindrical lenses or the like. With these transmission optics 8, a rectilinearly extending and continuous, that is to say uninterrupted, light line 3 is generated from the light beams 9 emitted in a punctiform manner at the transmitters 7.
  • optical patterns 17 such as grating structures are arranged between the transmitters 7 and the transmission optics 8.
  • the illumination unit 2 comprises a light rod 11, at the one end of which end 7 light beams 9 are coupled by means of a transmitter.
  • the light bar 11 is made of a light-conducting material, so that the light beams 9 are guided in its longitudinal direction.
  • On a side surface of the light bar 11 are provided over the entire length Auskoppel lake 12, which are generated in the form of roughening or indentations in the light bar 11. There, the light rays 9 emerge laterally and form a continuous, uninterrupted light line 3.
  • the decoupling surfaces 12 and light pattern within the light line 3 can be generated.
  • the reflector 5 of the optical sensor 1 is formed as a mirror reflector and consists, as FIG. 1 shows, from an alternating sequence of specularly reflecting segments 5a and light absorbing segments 5b, which form a reflector pattern.
  • specularly reflective segments 5a the light of the light line 3 of the illumination unit 2 is reflected, that is to say directionally reflected.
  • the light-absorbing segments 5b the light of the light line 3 is not or diffusely reflected only to a slight extent.
  • FIG. 4 shows a reflector 5 with a reflector pattern, which consists of a single-row arrangement of specularly reflective segments 5a and light-absorbing segments 5b.
  • FIG. 4 is shown with Z of the image section shown on a line of the matrix-shaped camera 4.
  • FIG. 5 shows a reflector 5 with a multi-line reflection pattern.
  • Each line of the reflector pattern is selectively displayed on one or more lines of the camera 4, that is, in the receiver is a multi-line evaluation for detecting the reflector pattern.
  • the corresponding specularly reflective segments 5a, or light-absorbing segments 5b are shifted from one line to the next by an offset from one another, which is smaller than the width of the specularly reflective segment 5a or light-absorbing segment 5b.
  • the specularly reflecting segments 5a or light-absorbing segments 5b of the individual lines form V-shaped patterns in order to detect objects to be protected from different entry directions in the protective field.
  • FIGS. 4 and 5 Shown by shading surfaces 13a, 13b.
  • the shading surfaces 13a, 13b show the region of the light line 3, which is interrupted by an object arranged in front of the reflector 5 and thus no longer reaches the reflector.
  • the shading surface 13a in FIG. 4 corresponds to the smallest still detectable with the one-sided reflector pattern object size, since there are just two light-absorbing segments 5b within shading surface 13a, that is no longer be imaged on the camera.
  • FIG. 5 shows, with the multi-line evaluation and the multi-line reflector pattern even smaller object structures can be detected within the smaller shading area 13b.
  • FIGS. 1 and FIGS. 6a to 6c show the principle of object detection with the optical sensor according to the invention.
  • the protective field within which objects can be detected is composed of an area A and two adjacent areas B.
  • the area A corresponds to the field of view of the camera 4. In this area objects can be detected directly.
  • FIG. 6a shows the camera image of the camera 4 of the optical sensor in the detection of the arranged in the area A object G1 in the event that it has a non-reflective surface.
  • the object G1 is detected solely on the basis of the shadowed parts of the reflector pattern of the reflector 5, that is, the object G1 interrupts the light line, so that not all mirror-reflecting segments 5a of the reflector 5 are imaged on the camera 4, the is called the object G 1 appears as a dark surface F 1 on the camera. 4
  • FIG. 6b shows the case that the object G1 reflects the light on the lighting unit 2 back into the camera 4. Such a reflection of the light into the camera 4 therefore occurs because the object G1 is located within the field of view of the camera 4. Thus, a correspondingly bright surface F2 is generated by the object G1, which is the same size as the surface F 1 on the camera image.
  • an object G2 arranged in one of the regions B can not be detected by a detection of the light of the illumination unit 2 reflected back from this article G2, since here the object G2 is located outside the field of view of the camera 4.
  • the object G2 regardless of whether it is reflective or not, causes an interruption of the light line, so that not all mirror-reflecting segments 5a of the reflector 5 are imaged on the camera 4.
  • this shadowing is folded into the field of vision of the camera 4, so that the object G2 can be recognized by the corresponding dark area F3 on the camera image ( FIG. 6c ), which is twice as large as the areas F1 and F2 with the same object size by twice the distance to the camera 4.
  • FIG. 1 shows, even with only one camera 4 as a receiver, an approximately rectangular protective field, consisting of the sum of the areas A and B can be realized.
  • FIG. 7 shows a development of the optical sensor 1 according to FIG. 1 to the effect that instead of a camera 4 in the center of the illumination unit 2, two cameras 4, 4 'are now provided, wherein in each case a camera 4, 4' is provided at a longitudinal end of the illumination unit 2.
  • Each camera 4, 4 ' is a camera lens 4a, 4a' upstream. Otherwise corresponds to the optical sensor 1 according to FIG. 7 in terms of structure and function of the optical sensor 1 according to FIG. 1 ,
  • an exactly rectangular protective field is realized, which consists of the sum of the areas A1, A2 and B1 + B2.
  • the area A1 lies in the field of view of the first camera 4.
  • objects which are located in the area A1 can be detected by light reflected back directly from the objects onto this camera 4.
  • the area B1 + B2 is outside the field of view of the two cameras 4, 4 '.
  • Objects arranged there can, analogously to objects in region B, be arranged in accordance with the sensor FIG. 1 , are detected only indirectly via the shadowing of the reflector pattern.
  • FIG. 8 shows a development of the embodiment according to FIG. 7
  • the optical sensor 1 according to FIG. 9 is opposite to the embodiment of FIG. 7 extended to the effect that not only a camera 4 is provided at the ends of the lighting unit 2. Rather, there are two identical cameras 4, 4 'are provided, by means of which a multi-channel camera structure is achieved. With the cameras 4, 4 'at each longitudinal end of the illumination unit 2 exactly the same field of view is detected. For this purpose, the cameras 4, 4 'be preceded by suitable deflection, by means of which incident light the Cameras 4, 4 'is supplied in the same way. Each camera 4 or 4 'is a camera lens 4a and 4a' upstream. For error control and to achieve the security levels required for use in the field of security technology, the images of the cameras 4, 4 'or features generated from the images are continuously compared with one another. A corresponding multi-channel camera structure can also in the embodiment according to FIG. 1 be provided.
  • FIG. 9 shows a first embodiment for testing the cameras 4, 4 'of the optical sensor 1 according to FIG. 7 .
  • a dark area 14 that cyclically travels over the length of the lighting unit 2 is provided for the lighting unit 2.
  • the dark area 14 can be generated, for example, by a serial dark switching of diodes which generate the light line.
  • the continuous dark area 14 produces defined time-varying test images in the cameras 4, 4 'which are compared with reference values for checking the camera 4 in the evaluation unit.
  • FIG. 10 shows a further possibility of testing the or a camera 4 of the optical sensor 1 according to the invention.
  • test patterns 16 emitting test light beams 15 and subordinate optical patterns 17 and deflection mirrors 18 are projected onto the camera 4 at predetermined times.
  • the camera images obtained from these or generated from these characteristics are compared with defined setpoints for testing the camera 4.
  • the or each receiver consisting of a camera 4 and a camera lens 4a is designed such that the reflector 5 is completely imaged onto the camera 4 at different distances from the receiver so that the reflector pattern of the reflector 5 is completely detected can be.
  • FIG. 11 shows an embodiment of such a receiver.
  • the camera 4 is housed in a camera body 4b.
  • the camera lens 4 arranged upstream of the camera 4 comprises a multi-zone lens 19 with a plurality of zones having different opening angles or focal lengths.
  • the multi-zone lens 19 comprises in the middle a long-range zone 19a and in the outer area a short-range zone 19b.
  • the reflector 5 arranged in the vicinity, that is in the example of FIG. 11 at a distance D1 to the illumination unit 2, the light of the illumination unit 2 is, after reflection at the reflector 5, imaged onto the camera 4 via the proximity zone 19b of the multizone lens 19. If, on the other hand, the reflector 5 is arranged in the far region, that is to say in the example of FIG FIG. 11 at a distance D2 to the illumination unit 2, the light of the illumination unit 2 is imaged onto the camera 4 via the long-range zone 19a of the multi-zone lens 19. It is essential here, on the one hand, that irrespective of whether the reflector 5 is arranged in the near or far region, the reflector pattern of which is always completely imaged on the camera 4 and thus captured by the latter. Thus, the reflector position can be changed application specific to change the protective field.
  • FIG. 11 a shows a plan view of the photosensitive surface of the camera 4. If the reflector 5 is arranged at the distance D1 to the camera 4, its reflector pattern is imaged onto the region B 1 of the photosensitive surface of the camera 4. If the reflector 5 is arranged at a distance D2 to the camera 4, its reflector pattern is imaged onto the region B2 of the photosensitive surface of the camera 4. In order for a high noise immunity is achieved as Störlichteinstrahl Institute are not imaged on the area of the camera 4, on which the reflector 5 is imaged, so that the image of the reflector pattern is not disturbed by Störlichteinstrahl Institute.
  • the camera lens 4a may also have a microlens array, which has the same functionality as the multi-zone lens 19.

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  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Geophysics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
EP12198338.1A 2012-12-20 2012-12-20 Capteur optique Active EP2746820B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP12198338.1A EP2746820B1 (fr) 2012-12-20 2012-12-20 Capteur optique

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Application Number Priority Date Filing Date Title
EP12198338.1A EP2746820B1 (fr) 2012-12-20 2012-12-20 Capteur optique

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EP2746820A1 true EP2746820A1 (fr) 2014-06-25
EP2746820B1 EP2746820B1 (fr) 2020-08-26

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115015150A (zh) * 2022-05-25 2022-09-06 中国船舶重工集团公司第七0三研究所 一种多通道冗余型高精度可燃气体浓度传感器

Citations (5)

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Publication number Priority date Publication date Assignee Title
DE19938639A1 (de) * 1999-08-14 2001-02-22 Pilz Gmbh & Co Vorrichtung zur Absicherung eines Gefahrenbereichs, insbesondere des Gefahrenbereichs einer automatisiert arbeitenden Maschine
DE29924385U1 (de) * 1998-03-17 2003-01-30 Leuze electronic GmbH + Co., 73277 Owen Optoelektronische Vorrichtung
DE202006012351U1 (de) * 2006-02-25 2006-10-19 Leuze Lumiflex Gmbh + Co. Kg Optischer Sensor zur Überwachung einer Schutzzone
DE202007001907U1 (de) * 2007-02-09 2007-04-05 Sick Ag Reflektorkamera
EP1939652A1 (fr) * 2006-12-19 2008-07-02 Sick Ag Capteur de détermination d'objet

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7200246B2 (en) * 2000-11-17 2007-04-03 Honeywell International Inc. Object detection

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29924385U1 (de) * 1998-03-17 2003-01-30 Leuze electronic GmbH + Co., 73277 Owen Optoelektronische Vorrichtung
DE19938639A1 (de) * 1999-08-14 2001-02-22 Pilz Gmbh & Co Vorrichtung zur Absicherung eines Gefahrenbereichs, insbesondere des Gefahrenbereichs einer automatisiert arbeitenden Maschine
DE202006012351U1 (de) * 2006-02-25 2006-10-19 Leuze Lumiflex Gmbh + Co. Kg Optischer Sensor zur Überwachung einer Schutzzone
EP1939652A1 (fr) * 2006-12-19 2008-07-02 Sick Ag Capteur de détermination d'objet
DE202007001907U1 (de) * 2007-02-09 2007-04-05 Sick Ag Reflektorkamera

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115015150A (zh) * 2022-05-25 2022-09-06 中国船舶重工集团公司第七0三研究所 一种多通道冗余型高精度可燃气体浓度传感器

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